阅读说明：本技术 一种用于绳系卫星地面释放回收的试验装置 (Testing device for ground release and recovery of tethered satellite ) 是由 张慧博 段富成 赵宝山 侯玮杰 彭思淇 魏梓颖 于 2021-07-12 设计创作，主要内容包括：本发明为一种用于绳系卫星地面释放回收的试验装置,包括系绳卷绕机构、排线机构、张力检测机构及绳长检测机构、输出系绳角度检测及控制机构、壳体。本装置可用于地面绳系卫星的释放和回收动力特性研究试验,不仅能够测量和控制系绳张力的大小,完成子星释放和回收的系绳长度测量,还可以测量并控制系绳的姿态入角,对系绳的输出角度进行相应的反馈控制,对姿态入角进行控制,能够调整姿态入角,使得卫星的释放及回收更加可控。本发明结构简洁明了,系绳路径明确通畅,不会产生系绳释放和回收过程中的滑脱以及因系绳松弛导致内部发生的灾难性的缠绕等问题。(The invention relates to a test device for ground release and recovery of tethered satellites, which comprises a tethered rope winding mechanism, a wire arranging mechanism, a tension detection mechanism, a rope length detection mechanism, an output tethered rope angle detection and control mechanism and a shell. The device can be used for the research test of the release and recovery power characteristics of a ground tethered satellite, can measure and control the tension of a tethered rope, completes the measurement of the length of the tethered rope released and recovered by a subsatellite, can also measure and control the attitude entrance angle of the tethered rope, performs corresponding feedback control on the output angle of the tethered rope, controls the attitude entrance angle, can adjust the attitude entrance angle, and enables the release and recovery of the satellite to be more controllable. The invention has simple and clear structure, clear and smooth tether path and can not generate the problems of slippage in the tether releasing and recovering process, catastrophic winding in the tether due to the tether loosening and the like.)

1. The utility model provides a test device for tether satellite ground release is retrieved, includes tether winding mechanism, winding displacement mechanism, tension detection mechanism and long detection mechanism of rope, output tether angle detection and control mechanism, casing, its characterized in that: the output tether angle detection and control mechanism comprises a tether guide ring, a turntable, a thrust ball bearing seat, a motor fixing frame side plate, a motor turntable coupling, a thrust ball bearing, a tether output guide wheel, a motor synchronous pulley, an angle sensor synchronous pulley, a synchronous belt, an angle sensor fixing seat, an angle sensor, a motor fixing plate and a corner driving motor;

the lower parts of the side plates of the two motor fixing frames are fixed on the bottom base plate, the turntable, the tether guide ring and the tether output guide wheel form a wire guide mechanism, the center of the lower part of the turntable is connected with a turntable shaft, the turntable shaft is matched with the turntable, a stud is arranged on the upper surface of the turntable shaft, a turntable positioning nut is arranged on the lower surface of the turntable, the stud is matched with the turntable positioning nut, the turntable is fixedly arranged on a thrust ball bearing seat through a thrust ball bearing, and the lower part of the thrust ball bearing seat is fixed at the top of the side plate of the motor fixing frame to ensure that the turntable can freely rotate in the horizontal plane; a motor fixing plate is arranged in an area between the two motor fixing frame side plates, a corner driving motor is fixed on the motor fixing plate and used for controlling the rotation of the turntable shaft, and the corner driving motor is connected with the turntable shaft through a motor turntable coupling; on one hand, the turntable shaft extends out of the thrust ball bearing seat to be connected with the turntable, and on the other hand, the turntable shaft positioned below the thrust ball bearing seat is provided with a motor synchronous belt wheel;

an angle sensor fixing seat is installed on the side surface of the motor fixing frame side plate, and an angle sensor is fixed on the angle sensor fixing seat and connected with an angle sensor synchronous belt wheel; the synchronous belt wheel of the motor and the synchronous belt wheel of the angle sensor are at the same height and are connected through the synchronous belt, so that the angle measured by the angle sensor is synchronous with the rotary table.

2. The test device for tethered satellite ground release retrieval of claim 1, wherein: the output height of the tether at the tether output guide wheel is consistent with the height of the tether of the sub-star simulator, so that the stress level of the tether is guaranteed.

3. The test device for tethered satellite ground release retrieval of claim 1, wherein: the rope winding mechanism and the wire arranging mechanism are arranged in parallel in the space from top to bottom, the tension detecting mechanism is a three-pulley tension sensor, an upper tensioning guide wheel, a middle tensioning guide wheel and a lower tensioning guide wheel are arranged in the three-pulley tension sensor, and the three tensioning guide wheels are arranged in a vertical state;

the wire arranging mechanism comprises a wire arranging mechanism body, a wire winding mechanism and a wire arranging mechanism, wherein the wire arranging mechanism body is of a lead screw structure, a first slider guide wheel and a second slider guide wheel are arranged on a slider of the lead screw structure, the first slider guide wheel and the second slider guide wheel are arranged up and down, and a connecting line of the upper guide wheel and the lower guide wheel is arranged in a vertical manner with a winding drum shaft bus and is used for arranging and guiding a tether;

the rope length detection mechanism comprises a rope length detection guide wheel, a first wiring guide wheel and a second wiring guide wheel, the rope length detection guide wheel is connected with a rotary encoder, the first wiring guide wheel and the second wiring guide wheel are positioned above the rope length detection guide wheel, and the rope length detection guide wheel is positioned above the lowest tensioning guide wheel of the three pulley tension sensors in an inclined mode; finally, the guide wheel grooves of all the guide wheels are positioned in the same vertical plane; the first wiring guide wheel is positioned above the second wiring guide wheel, and the outer tangent of the first wiring guide wheel and the first slide block guide wheel does not interfere with the first tensioning guide wheel.

4. The test device for tethered satellite ground release retrieval of claim 1, wherein: the first sliding block guide wheel and the second sliding block guide wheel are installed at a vertical distance of 5-10cm, and the vertical guiding effect of the two sliding block guide wheels is guaranteed.

5. The test device for tethered satellite ground release retrieval of claim 1, wherein: the rope winding mechanism is driven by a winding motor with the rotating speed of 600r/min, the winding motor is positioned at the tail end of the rope winding mechanism, is connected with a motor base fixed on the bottom base plate and is connected with a drum shaft through a motor rope winding coupling; the tension feedback of the tension detection mechanism is used for controlling the forward and reverse rotation and the rotation speed of the winding motor so as to control the tension of the tether; the rotating speed of the corner driving motor is 10 r/min.

6. The test device for tethered satellite ground release retrieval of claim 1, wherein: the outer shell is in a semi-cylindrical shape with variable diameter, the bottom of the outer shell is fixed with the bottom base plate together, and the side surfaces of the bottom base plate and the outer shell are sealed by the side cover plate; the outer shell, the bottom substrate and the side cover plate form a space for accommodating the mechanism, a ribbed plate is arranged on the inner surface of the outer shell, and the inner part of the outer shell is tightly attached to the mechanism; the shell body is made by 3D printing of photosensitive resin.

7. The utility model provides a test device for tether satellite ground releases retrieves, tether winding mechanism, winding displacement mechanism, tension detection mechanism and long detection mechanism of rope, output tether angle detection and control mechanism, casing which characterized in that: the rope winding mechanism and the wire arranging mechanism are arranged in parallel in the space from top to bottom, the tension detecting mechanism is a three-pulley tension sensor, an upper tensioning guide wheel, a middle tensioning guide wheel and a lower tensioning guide wheel are arranged in the three-pulley tension sensor, and the three tensioning guide wheels are arranged in a vertical state;

the wire arranging mechanism comprises a wire arranging mechanism body, a wire winding mechanism and a wire arranging mechanism, wherein the wire arranging mechanism body is of a lead screw structure, a first slider guide wheel and a second slider guide wheel are arranged on a slider of the lead screw structure, the first slider guide wheel and the second slider guide wheel are arranged up and down, and a connecting line of the upper guide wheel and the lower guide wheel is arranged in a vertical manner with a winding drum shaft bus and is used for arranging and guiding a tether;

the rope length detection mechanism comprises a rope length detection guide wheel, a first wiring guide wheel and a second wiring guide wheel, the rope length detection guide wheel is connected with a rotary encoder, the first wiring guide wheel and the second wiring guide wheel are positioned above the rope length detection guide wheel, and the rope length detection guide wheel is positioned above the lowest tensioning guide wheel of the three pulley tension sensors in an inclined mode; finally, the guide wheel grooves of all the guide wheels are positioned in the same vertical plane; the first wiring guide wheel is positioned above the second wiring guide wheel, and the outer tangent of the first wiring guide wheel and the first slide block guide wheel does not interfere with the first tensioning guide wheel.

8. Test device for tethered satellite ground release retrieval as per any of claims 1 to 7, wherein: the working principle and the working process of the test device are as follows:

the sub-star simulator is connected with the test device through the tether, the tension sensor detects tension on the tether in real time and feeds the tension back to the winding motor, when the tension in the tether is detected to be too high, namely the speed of the sub-star simulator is too high, the tether needs to be released as soon as possible to match the speed of the sub-star simulator, and the winding motor accelerates the release of the tether, so that the tension on the tether is gradually reduced; when the tension sensor detects that the tension in the tether is too small, namely the speed of the sub-star simulator is reduced, the tether needs to be slowly released to match the low speed of the sub-star simulator, at the moment, the tension sensor feeds the measured tension back to the winding motor, so that the rotating speed of the winding motor is reduced or even reversed, the rope releasing action is slowed down, the tether connected with the sub-star simulator is continuously tightened, the tension in the tether is increased again at the moment, and the tensioning state is kept; the tension sensor detects in real time to adjust a tether of the sub-star simulator to keep a tensioning state in real time;

the rope winding mechanism and the wire arranging mechanism are arranged in parallel in the space from top to bottom, so that interactive transmission of the rope between the winding drum and the wire arranging mechanism is facilitated, the winding motor and the lead screw stepping motor are in matched motion, the rope rotates for a circle, the sliding block moves for a distance of one rope diameter in the corresponding direction, and the rope is uniformly and compactly arranged on the winding drum under the movement of the lead screw sliding block by bypassing the sliding block guide wheel; when the tether is released or recovered, a sliding block guide wheel on the wire arranging mechanism moves along with the tether, the leading-out end of the tether from the winding drum is vertical to a bus of a winding drum shaft, the tether is uniformly distributed, when the tether is over-tight, a winding motor receives a signal of a tension sensor to drive the winding drum to release the tether, and when the tether is loose, a detection value of the tension sensor is zero, and the detection value is fed back to the winding motor to be tightened;

the tether bypasses the rope length detection guide wheel, the tether with tension drives the rope length detection guide wheel to rotate when being released and recovered, the number of turns of the rotation of the encoder is multiplied by the perimeter of the rope length detection guide wheel to obtain the length of the release and recovery of the tether, and the release and recovery distance of the satellite simulator is controlled in real time;

the function of measuring and adjusting the swing angle after the tether is released is achieved through outputting the tether angle detection and control mechanism, the angle measured through the angle sensor is fed back to the corner driving motor, if the sub-satellite simulator is in an unstable state, the angle sensor measures the acceleration in the horizontal direction, the corner driving motor reversely controls the rotating disc to rotate correspondingly according to the value measured by the angle sensor, the fluctuation condition is restrained, the angle measured by the angle sensor is synchronous with the rotating disc, and the sub-satellite simulator is guaranteed to be in a stable state.

9. The test device for tethered satellite ground release retrieval of claim 8, wherein: when a ground test of releasing and recycling of a tethered satellite is carried out, the initial range of the attitude entrance angle swing angle of the tethered satellite is determined, when the swing angle exceeds the initial range, the subsatellite simulator is considered to be unstable and generate fluctuation, a real-time swing angle value acquired by an angle sensor is fed back to a corner driving motor, after the corner driving motor confirms the fluctuation direction and angle of the subsatellite simulator, the corner driving motor carries out reverse rotation inhibition in the angular speed range of 0-60 degrees/S, the range of the swing angle stable value of the subsatellite simulator is set, and when the swing angle of controlling the attitude entrance angle by the corner driving motor is in the range of the swing angle stable value, the subsatellite simulator is considered to be stable in the releasing and recycling process and stops adjusting.

10. The test device for tethered satellite ground release retrieval of claim 9, wherein: the initial range of the swing angle is +/-10 degrees, and the stable value range of the swing angle is +/-2 degrees.

Technical Field

The invention relates to the technical field of research of space tethered satellite systems, in particular to a testing device for ground release and recovery of tethered satellites.

Background

As mankind goes deeper and deeper into outer space and more various orbital wastes, many experiments and works in space require the use of tethered satellite systems, and many problems that may be encountered during the release of tethers and their recovery have been the subject of research, and although research on space tethered satellite systems has been developed years by various national and international organizations, the release of tethers is still a problem worth studying. The research finds that the existing device for releasing and recovering the tethered satellite has some defects, such as measurement of the attitude entrance angle only but no addition of an attitude angle control mechanism, poor stability, complex structure, large volume and the like.

Therefore, the invention designs the release mechanism of the tethered satellite, carries out innovative design based on the experience of the predecessor, and provides the test device which can control the attitude angle and has more stability, small volume and simple structure.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to solve the technical problem of designing a test device for ground release and recovery of tethered satellites. The device can adjust the tension of the tether at any time, so that the release of the sub-star simulator is stable, and the device has the advantages of high control precision, wide working range, capability of automatically solving various problems of system instability and the like.

The invention solves the technical problem by adopting the technical scheme that a test device for ground release recovery of a tethered satellite is designed, comprises a tethered winding mechanism, a wire arranging mechanism, a tension detection mechanism, a tethered length detection mechanism, an output tethered angle detection and control mechanism and a shell, and is characterized in that: the output tether angle detection and control mechanism comprises a tether guide ring, a turntable, a thrust ball bearing seat, a motor fixing frame side plate, a motor turntable coupling, a thrust ball bearing, a tether output guide wheel, a motor synchronous pulley, an angle sensor synchronous pulley, a synchronous belt, an angle sensor fixing seat, an angle sensor, a motor fixing plate and a corner driving motor;

the lower parts of the side plates of the two motor fixing frames are fixed on the bottom base plate, the turntable, the tether guide ring and the tether output guide wheel form a wire guide mechanism, the center of the lower part of the turntable is connected with a turntable shaft, the turntable shaft is matched with the turntable, a stud is arranged on the upper surface of the turntable shaft, a turntable positioning nut is arranged on the lower surface of the turntable, the stud is matched with the turntable positioning nut, the turntable is fixedly arranged on a thrust ball bearing seat through a thrust ball bearing, and the lower part of the thrust ball bearing seat is fixed at the top of the side plate of the motor fixing frame to ensure that the turntable can freely rotate in the horizontal plane; a motor fixing plate is arranged in an area between the two motor fixing frame side plates, a corner driving motor is fixed on the motor fixing plate and used for controlling the rotation of the turntable shaft, and the corner driving motor is connected with the turntable shaft through a motor turntable coupling; on one hand, the turntable shaft extends out of the thrust ball bearing seat to be connected with the turntable, and on the other hand, the turntable shaft positioned below the thrust ball bearing seat is provided with a motor synchronous belt wheel;

an angle sensor fixing seat is installed on the side surface of the motor fixing frame side plate, and an angle sensor is fixed on the angle sensor fixing seat and connected with an angle sensor synchronous belt wheel; the synchronous belt wheel of the motor and the synchronous belt wheel of the angle sensor are at the same height and are connected through the synchronous belt, so that the angle measured by the angle sensor is synchronous with the rotary table.

The rope winding mechanism and the wire arranging mechanism are arranged in parallel in the space from top to bottom, the tension detecting mechanism is a three-pulley tension sensor, an upper tensioning guide wheel, a middle tensioning guide wheel and a lower tensioning guide wheel are arranged in the three-pulley tension sensor, and the three tensioning guide wheels are arranged in a vertical state;

the wire arranging mechanism comprises a wire arranging mechanism body, a wire winding mechanism and a wire arranging mechanism, wherein the wire arranging mechanism body is of a lead screw structure, a first slider guide wheel and a second slider guide wheel are arranged on a slider of the lead screw structure, the first slider guide wheel and the second slider guide wheel are arranged up and down, and a connecting line of the upper guide wheel and the lower guide wheel is arranged in a vertical manner with a winding drum shaft bus and is used for arranging and guiding a tether;

the rope length detection mechanism comprises a rope length detection guide wheel, a first wiring guide wheel and a second wiring guide wheel, the rope length detection guide wheel is connected with a rotary encoder, the first wiring guide wheel and the second wiring guide wheel are positioned above the rope length detection guide wheel, and the rope length detection guide wheel is positioned above the lowest tensioning guide wheel of the three pulley tension sensors in an inclined mode; finally, the guide wheel grooves of all the guide wheels are positioned in the same vertical plane; the first wiring guide wheel is positioned above the second wiring guide wheel, and the outer tangent of the first wiring guide wheel and the first slide block guide wheel does not interfere with the first tensioning guide wheel.

The working principle and the working process of the test device are as follows:

the sub-star simulator is connected with the test device through the tether, the tension sensor detects tension on the tether in real time and feeds the tension back to the winding motor, when the tension in the tether is detected to be too high, namely the speed of the sub-star simulator is too high, the tether needs to be released as soon as possible to match the speed of the sub-star simulator, and the winding motor accelerates the release of the tether, so that the tension on the tether is gradually reduced; when the tension sensor detects that the tension in the tether is too small, namely the speed of the sub-star simulator is reduced, the tether needs to be slowly released to match the low speed of the sub-star simulator, at the moment, the tension sensor feeds the measured tension back to the winding motor, so that the rotating speed of the winding motor is reduced or even reversed, the rope releasing action is slowed down, the tether connected with the sub-star simulator is continuously tightened, the tension in the tether is increased again at the moment, and the tensioning state is kept; the tension sensor detects in real time to adjust a tether of the sub-star simulator to keep a tensioning state in real time;

the rope winding mechanism and the wire arranging mechanism are arranged in parallel in the space from top to bottom, so that interactive transmission of the rope between the winding drum and the wire arranging mechanism is facilitated, the winding motor and the lead screw stepping motor are in matched motion, the rope rotates for a circle, the sliding block moves for a distance of one rope diameter in the corresponding direction, and the rope is uniformly and compactly arranged on the winding drum under the movement of the lead screw sliding block by bypassing the sliding block guide wheel; when the tether is released or recovered, a sliding block guide wheel on the wire arranging mechanism moves along with the tether, the leading-out end of the tether from the winding drum is vertical to a bus of a winding drum shaft, the tether is uniformly distributed, when the tether is over-tight, a winding motor receives a signal of a tension sensor to drive the winding drum to release the tether, and when the tether is loose, a detection value of the tension sensor is zero, and the detection value is fed back to the winding motor to be tightened;

the tether bypasses the rope length detection guide wheel, the tether with tension drives the rope length detection guide wheel to rotate when being released and recovered, the number of turns of the rotation of the encoder is multiplied by the perimeter of the rope length detection guide wheel to obtain the length of the release and recovery of the tether, and the release and recovery distance of the satellite simulator is controlled in real time;

the function of measuring and adjusting the swing angle after the tether is released is achieved through outputting the tether angle detection and control mechanism, the angle measured through the angle sensor is fed back to the corner driving motor, if the sub-satellite simulator is in an unstable state, the angle sensor measures the acceleration in the horizontal direction, the corner driving motor reversely controls the rotating disc to rotate correspondingly according to the value measured by the angle sensor, the fluctuation condition is restrained, the angle measured by the angle sensor is synchronous with the rotating disc, and the sub-satellite simulator is guaranteed to be in a stable state.

When a ground test of releasing and recycling of a tethered satellite is carried out, the initial range of the attitude entrance angle swing angle of the tethered satellite is determined, when the swing angle exceeds the initial range, the subsatellite simulator is considered to be unstable and generate fluctuation, a real-time swing angle value acquired by an angle sensor is fed back to a corner driving motor, after the corner driving motor confirms the fluctuation direction and angle of the subsatellite simulator, the corner driving motor carries out reverse rotation inhibition in the angular speed range of 0-60 degrees/S, the range of the swing angle stable value of the subsatellite simulator is set, and when the swing angle of controlling the attitude entrance angle by the corner driving motor is in the range of the swing angle stable value, the subsatellite simulator is considered to be stable in the releasing and recycling process and stops adjusting.

The initial range of the swing angle is +/-10 degrees, and the stable value range of the swing angle is +/-2 degrees.

Compared with the prior art, the invention has the beneficial effects that:

(1) the device can be used for the research test of the release and recovery power characteristics of a ground tethered satellite, can measure and control the tension of a tethered rope, completes the measurement of the length of the tethered rope released and recovered by a subsatellite, can also measure and control the attitude entrance angle of the tethered rope, performs corresponding feedback control on the output angle of the tethered rope, controls the attitude entrance angle, can adjust the attitude entrance angle, and enables the release and recovery of the satellite to be more controllable. The invention has simple and clear structure, clear and smooth tether path and can not generate the problems of slippage in the tether releasing and recovering process, catastrophic winding in the tether due to the tether loosening and the like.

(2) The output tether angle detection and control mechanism of this design can the deflection of the angle of accurate measurement after tether release, also can carry out feedback control to pertinence simultaneously. The upper part is a tether output turntable, and a tether guide ring and a guide pulley are arranged on the turntable, so that tether output and control of the posture entrance angle are facilitated. The turntable for controlling the output direction of the tether above is connected with a corner driving motor through a coupler, the corner driving motor is connected with an angle sensor, and the control of the output direction of the tether is controlled through the feedback of the angle sensor. The two synchronous belt wheels keep the same height, so that synchronous transmission of angles is facilitated, and the rotation of the corner driving motor is controlled through the feedback of the angle sensor. The arrangement of the synchronous belt enables the angle transmission response to be rapid, and the vibration of the system is reduced. The angle control of the invention can reduce the vibration of the system, and has high precision, fast response and low cost. When the output tether angle detection and control mechanism is arranged, the factors such as the arrangement of the motors, the arrangement mode of the couplers, the height of the wiring guide wheels, whether tether paths interfere and the like are fully considered, and therefore the miniaturization and the light weight of the device are achieved.

(3) All the mechanisms are compactly arranged, the size of the whole structure is greatly reduced, except for the tether winding mechanism, all the tethers are transmitted on the guide wheels on the same plane, the winding of the tethers is reduced, and the release and recovery of the satellite are effectively ensured. Meanwhile, a certain space is reserved between a motor (corner driving motor) for driving the tether to turn and the bottom, so that wiring is convenient. The utility model discloses a device for testing the length of tether, including the winding drum, the winding drum is equipped with the winding drum, the winding drum is equipped with the winding drum, the winding drum is equipped with the winding drum, and the winding drum is equipped with the winding drum, the winding drum is equipped with the winding drum, the winding drum is equipped with the winding drum, the winding drum is equipped with the winding drum, the winding drum is equipped with the winding drum, the winding. The rope tying winding mechanism and the wire arranging mechanism are arranged up and down, so that the rope tying line cannot be disordered, the transmission paths are close, no moment interference exists on one vertical surface, and the transmission process is more stable.

(4) The tension detection mechanism who adopts is three pulley tension sensor, two first tensioning guide wheels and 3 are used for the direction of direction for the second tensioning guide wheel receives the force direction for resultant force direction, adopt vertical placing mode, first wiring guide wheel, second wiring guide wheel and rope length detection guide wheel have been arranged to the tension detection mechanism side, make the final output direction of tether pointing mechanism top horizontal direction, rope length detection guide wheel is connected with rotary encoder, the rotatory number of turns of this encoder multiplies the length that the girth that detects the guide wheel is the release of tether and the length of retrieving, promptly tether length detection mechanism. The guide pulley of whole device all is on a vertical plane, and the tether of last output keeps the level outwards, passes the guide ring noninterference, and vertical placing guarantees all the time in the guide pulley groove, keeps the tensioning in real time, avoids tether to take off the groove, has elasticity when the satellite releases, can toward returning and contract and lead to the rope to take place to relax, and the mode of setting up in this kind of vertical face of this application can guarantee that tether can not break away from the guide pulley groove all the time, and the tether can not take place the winding.

(5) A various rack construction for fixing all adopts 6061 aluminum alloy material, and aluminium alloy intensity is enough, reduces weight under the prerequisite that reaches required rigidity requirement, and convenient dismantlement and installation do benefit to the transportation.

(6) This application structure mainly is applied to ground test, and shell structure itself is not atress, does not need too hard, then according to whole size design, adopts photosensitive resin 3D to print and forms, not only pleasing to the eye and the cost is reduced and the quality.

(7) The invention adopts the thrust ball bearing for connection, ensures the rotation of the turntable under the condition of the lowest friction force as much as possible, realizes the control of the angle, and ensures that the tether and the turntable rotate together without the phenomenon of messy lines. The synchronism of the winding drum and the winding motor is ensured through the coupling connection, and the use space of the device is enlarged.

Drawings

FIG. 1 is a schematic axial view of the overall structure of an embodiment of the tethered satellite release and recovery mechanism of the present invention;

FIG. 2 is a schematic diagram of a tethered line deployment mechanism in accordance with an embodiment of the tethered satellite release and recovery mechanism of the present invention;

FIG. 3 is a schematic diagram of a tether take-up mechanism in accordance with one embodiment of the tethered satellite release and retrieval mechanism of the present invention;

FIG. 4 is a schematic diagram of a tether tension sensor and a tether length detection mechanism according to an embodiment of the tethered satellite release and retrieval mechanism of the present invention;

FIG. 5 is a schematic view of an output tether angle detection and control mechanism of one embodiment of a tethered satellite release recovery mechanism of the present invention;

FIG. 6 is a schematic structural diagram of the outer casing;

FIG. 7 is a schematic view of a bottom substrate structure;

FIG. 8 is a schematic structural view of a side plate of the traverse mechanism;

FIG. 9 is a schematic diagram of a tension sensor fixing plate structure;

FIG. 10 is a schematic view of a side plate structure of a motor fixing frame;

FIG. 11 is a schematic structural view of a thrust ball bearing seat;

FIG. 12 is a schematic view of a turntable structure;

FIG. 13 is a schematic view of a fixing base of the angle sensor;

in the figure: 1. a side cover plate; 2. a wire arranging mechanism; 3. an outer housing; 4. a tension detection mechanism and a rope length detection mechanism; 5. outputting a tether angle detection and control mechanism; 6. a bottom substrate; 7. a tether; 8. fixing the corner connectors; 9. a tether take-up mechanism; 10. a side plate 11, a lead screw stepping motor; 12. a lead screw; 13. a slider; 14. a first slider guide wheel; 15. a second slide guide wheel 16 and a winding motor; 17. a bearing seat; 18. a spool shaft; 19. a drum baffle; 20. a motor rope winding coupler; 21. a motor base; 22. a first wiring guide wheel; 23. a second wiring guide wheel; 24. a rope length detection guide wheel (fixedly connected with the encoder); 25. a tension sensor fixing plate; 26. a first tensioning guide wheel; 27. a tension sensor; 28. a second tensioning guide wheel; 29. a third tensioning guide wheel; 30. a tether guide ring; 31. a turntable; 32. a thrust ball bearing seat; 33. a motor fixing frame side plate; 34. a motor turntable coupling; 35. a thrust ball bearing; 36. a tether output guide wheel; 37. a motor synchronous belt wheel; 38. an angle sensor synchronous pulley; 39. a synchronous belt; 40. an angle sensor holder; 41. an angle sensor; 42. a motor fixing plate; 43. the corner drives the motor.

Detailed Description

Specific examples of the present invention are given below. The specific examples are only for illustrating the present invention in further detail and do not limit the scope of protection of the present application.

The output height of the tether in the device is consistent with the height of the tether of the sub-star simulator, so that the stress level of the tether is guaranteed. The output height is the tether height output at tether output sheave 36.

The rope winding mechanism 9 is designed as a device taking a winding drum as a main body, the rope winding mechanism 9 is driven by a winding motor with the rotating speed of 600r/min, the winding motor is positioned at the tail end of the rope winding mechanism, is connected with a motor base 21 fixed on a bottom base plate and is connected with a winding drum shaft 18 through a motor rope winding coupling 20; the tension feedback of the tension detection mechanism is used for controlling the forward and reverse rotation and the rotation speed of the winding motor so as to realize the control of the tension of the tether.

The winding displacement mechanism main part is the lead screw structure, has arranged first slider guide pulley 14 and second slider guide pulley 15 on the slider of lead screw structure, and first slider guide pulley 14 and second slider guide pulley 15 are arranged from top to bottom, and the line of two upper and lower guide pulleys is the vertical form with the reel axle generating line and arranges for arranging and leading of tether, cooperation tether winding mechanism motion, the tether is walked around two slider guide pulleys and is evenly compactly arranged on the reel under lead screw and slider removal, make the tether can be even arrange on the reel.

The tension detection mechanism is a three-pulley tension sensor, and the first tensioning guide wheel 26 and the third tensioning guide wheel 29 are used for guiding, so that the direction of the force applied to the second tensioning guide wheel 28 is the direction of resultant force. In order to enable the final output direction of the tied rope to point to the horizontal direction above the device, a first wiring guide wheel 22, a second wiring guide wheel 23 and a rope length detection guide wheel 24 are vertically arranged on the side edge of the tension detection mechanism, the rope length detection guide wheel 24 is connected with a rotary encoder, and the length of releasing and recovering the tied rope is obtained by multiplying the number of turns of rotation of the encoder by the perimeter of the rope length detection guide wheel, namely the tied rope length detection mechanism.

The angle sensor is connected with a motor with a large torque and a rotating speed of 10r/min through a synchronous belt, and synchronous belt wheels are respectively arranged on the angle sensor and a motor spindle. The two synchronous belt wheels keep the same height, so that the synchronous transmission of angles is facilitated, and the rotation of the motor is controlled through the feedback of the angle sensor.

The bottom plate, the side plate and various frame structures which are used for fixing of the device are all made of 6061 aluminum alloy materials.

The working principle and the working process of the test device for ground release and recovery of tethered satellites are as follows:

the present invention measures the tension in the tether with a tension sensor and feeds it back to the winding motor 16. When the tension in the tether is too great, i.e., the speed of the star simulator is too high during release of the tether, the winding motor 16 will accelerate the release of the tether, thereby gradually reducing the tether tension. When the tension in the tether is too small, the tension measured by the sensor is also fed back to the winding motor 16, so that the rotating speed of the winding motor is slowed or even reversed, the action of releasing the tether is slowed, the tether connected with the sub-star simulator is continuously tightened, the speed of the sub-star simulator is reduced, the tension in the tether is increased again at the moment, and the previous process is repeated.

Tether winding mechanism and winding displacement mechanism are parallel arrangement side by side about the space, make things convenient for tether reel and winding displacement mechanism's mutual transmission, the tether is walked around the slider guide pulley and is evenly compactly arranged on the reel under the removal of lead screw slider, the winding length of every circle of tether can not produce too big change promptly, the reel can not appear and rotate at every turn and lead to the condition that tether release length differs, when the tether releases or retrieves, the slider guide pulley on the winding displacement mechanism moves along with the tether, it keeps tether and reel axle generating line to keep perpendicular, carry out the even arrangement of tether. When the tether is released, the screw mechanism moves to the left side to be matched with the tether to be arranged, the tension of the tether needs to be adjusted in the process, the tether needs to be tightened at the moment, the winding motor rotates reversely, and the screw correspondingly adjusts to move to the right side at a certain speed, so that the tether is uniformly arranged on the winding drum.

The matching process of the tether winding mechanism and the cable arranging mechanism is as follows: the star simulator needs to uniformly arrange the tether wound on the winding drum when releasing and recovering. For example, the diameter D of the used tether is 1mm, the diameter D of the drum is 10mm, the circumference L thereof is 31.4mm, when the tether drum rotates one circle, the tether is released or recovered by 31.4mm, the screw slider drives the tether to move 1m, that is, the tether rotates one circle, and the screw slider moves a distance of one tether diameter in the corresponding direction. For example, the stroke of one rotation of the screw rod is selected to be 4mm, so when the tether reel winds the tether at the speed V, in order to keep the synchronous state of the two, the screw rod stepping motor of the screw rod mechanism performs uniform wire arrangement matching at the speed V/4 all the time. At the same time, tether release and retraction also determine the direction of motion of the lead screw: for example, when the tether is released, the lead screw is matched with the tether to move leftwards, namely, the tether winding mechanism winds and tightens the tether; when the tether is recovered, the lead screw is matched with the tether and moves rightwards, namely, the tether winding mechanism releases the tether, and the recovery of the sub-star simulator is realized.

Tension detection mechanism and rope length detection mechanism in the device of the invention as shown in fig. 4, the tensioned tether is wound around three tensioning guide wheels, and the second tensioning guide wheel 28 is connected with a tension sensor, so that the tension of the tether can be measured and used for feedback control of the system. Then the tether measures the release length of the tether through a tether length detection guide wheel 24 connected with a rotary encoder, and the working principle is as follows: the tether bypasses the tether length detection guide wheel 24, the tether with tension drives the guide wheel to rotate when releasing and recovering, the length of the tether releasing and recovering is determined by multiplying the number of turns of the encoder by the perimeter of the tether length detection guide wheel, and the distance of releasing and recovering the subsatellite is controlled in real time.

The device of the invention realizes the functions of measuring and adjusting the swing angle after the tether is released by outputting the tether angle detection and control mechanism (as shown in figure 5). The angle measured by the angle sensor is fed back to the corner driving motor 43 for the corner driving motor to adjust the angle of the turntable.

When a ground test of releasing and recovering a tethered satellite is carried out, the initial range of the attitude entrance angle swing angle of a tether is generally determined to be within +/-10 degrees, when the swing angle exceeds the range of +/-10 degrees, the subsatellite simulator is considered to be unstable and generates fluctuation, an angle sensor feeds back the swing angle value to a corner driving motor, the corner driving motor carries out reverse rotation inhibition in the angular speed range of 0-60 degrees/S, the reverse inhibition angular speed depends on the angular speed of the attitude entrance angle, and when the swing angle of the attitude entrance angle is larger, the angular speed of the corner driving motor needs to be increased in order to ensure that the swing periods of the attitude entrance angle and the corner of the corner driving motor are consistent; the swing angle of the corner driving motor is set within +/-2 degrees, and the corner range of the control posture entrance angle is maintained within +/-2 degrees, so that the control posture entrance angle is considered to be stable. And after the attitude entrance angle is stably controlled within +/-2 degrees, determining that the subsatellite release and recovery process is stable, and stopping adjustment. + -10 deg. is a pre-adjustment threshold and + -2 deg. is a post-adjustment stability setpoint.

The invention discloses a testing device for ground release and recovery of tethered satellites, which is mainly used for simulating the working condition of a flexible connection system formed among space spacecrafts. Meanwhile, the acceleration sensor is arranged on the subsatellite, so that the acceleration, the angular speed, the angle and the like of the subsatellite can be measured. The cooperation effect with the sub-star simulator is fully considered when the design is carried out, the cooperation of the structure and the sub-star simulator is considered, the release and recovery requirements of the sub-star simulator can be met with the height and the size as small as possible, and the mechanical structure and the sensors (the tension sensor and the angle sensor) of the test device are mainly researched and how to arrange, so that the release and recovery of the sub-stars can be achieved under the appropriate size and height, and the actual control and working requirements can be met.

Examples

The embodiment provides a test device for ground release and recovery of tethered satellites, which has an axis measuring and indicating diagram (see fig. 1) as an integral structure and comprises a wire arranging mechanism 2 (see fig. 2), a tethered rope winding mechanism 9 (see fig. 3), a tension detection mechanism, a tethered rope length detection mechanism 4 (see fig. 4), an output tethered rope angle detection and control mechanism 5 (see fig. 5), an outer shell 3 (see fig. 6), a bottom substrate 6 and a side cover plate 1. The outer shell is in a semi-cylindrical shape with variable diameter, the bottom of the outer shell is fixed with the bottom base plate together, and the side surfaces of the bottom base plate and the outer shell are sealed by the side cover plate; the outer shell, the bottom substrate and the side cover plate 1 form a space for accommodating the mechanism, the ribbed plates are arranged on the inner surface of the outer shell, the use strength of the outer shell can be guaranteed, and the inner part of the outer shell is tightly attached to the mechanism, so that the size of the device is minimized.

The wire arranging mechanism comprises a lead screw stepping motor 11, a lead screw 12, a slide block 13, a first slide block guide wheel 14, a second slide block guide wheel 15 and a side plate 10; the lead screw stepping motor 11, the lead screw 12, the slider 13, the first slider guide wheel 14 and the second slider guide wheel 15 form a lead screw mechanism; the side plate 10 is vertically fixed on the bottom base plate 6, the bottom base plate 6 and the side plate are connected to form an inverted T-shaped structure, the bottom base plate and the side plate are connected and fixed through a fixed angle code, a screw mechanism is arranged on a vertical surface on one side of the side plate, the axis of the screw mechanism is parallel to the length direction of the side plate, the screw mechanism is at a certain distance from the bottom base plate 6, a tether winding mechanism is fixedly installed on the bottom base plate in the space below the screw mechanism, and the axis of the tether winding mechanism is also parallel to the length direction of the side plate 10;

an output shaft of the lead screw stepping motor 11 is connected with a lead screw 12, a sliding block is matched with the lead screw 12 and a polished rod and fixed on the lead screw, and a sliding block 13 moves along the lead screw and the polished rod under the driving of the lead screw stepping motor; a first slider guide wheel 14 and a second slider guide wheel 15 are arranged on a vertical surface of a slider 13 in an up-down layout mode, the first slider guide wheel 14 and the second slider guide wheel 15 are fixed on the slider 13 through corresponding screws, guide wheel grooves are formed in the first slider guide wheel 14 and the second slider guide wheel 15 and are in the same vertical straight line, a large distance is formed between the two guide wheel grooves, the preferred distance is 5-10cm, the installation is kept at a vertical distance of 5-10cm, the vertical guiding effect of the two slider guide wheels is guaranteed, tether can be promoted to move towards the direction of a screw rod mechanism, and the phenomenon of groove separation is avoided.

The rope winding mechanism 9 comprises a winding motor 16, a bearing seat 17, a winding drum shaft 18, a winding drum baffle plate 19, a motor rope winding coupling 20 and a motor base 21;

two bearing seats 17 are fixed on a bottom plate below the wire arranging mechanism, two ends of a winding drum shaft 18 are provided with winding drum baffles 19, threaded holes are formed in the two winding drum baffles 19, screws are fixed by the threaded holes and used for winding a tied rope, the position of the threaded holes can be used as a fixed point of the tied rope on a winding drum, and a movable point led out by the tied rope is connected with a sliding block guide wheel on the wire arranging mechanism; the drum shaft is fixed between the two bearing blocks, and the bottoms of the two bearing blocks 17 are fixed on the bottom substrate through screws; a motor base 21 is fixedly arranged on the bottom base plate 6 at one side of the outer sides of the two bearing blocks, which is far away from the slide block guide wheel of the wire arranging mechanism, a winding motor 16 is matched with the motor base 21, and the output shaft of the winding motor is fixedly connected with a drum shaft 18 through a motor wire winding coupling 20; the reel baffle is directly matched with the reel shaft, the reel baffle is sleeved on the reel shaft, and the reel baffle, the reel shaft and the rope wound on the reel shaft form a reel.

The tether leading-out end of the tether winding mechanism is just on the same vertical line with the guide wheel grooves of the two slide block guide wheels arranged on the wire arranging mechanism;

the tension detection mechanism and the rope length detection mechanism comprise a rope length detection guide wheel 24, a tension sensor fixing plate 25, a first tension guide wheel 26, a tension sensor 27, a second tension guide wheel 28 and a third tension guide wheel 29; the rope length detection guide wheel 24 is fixedly connected with the encoder; the tension sensor is a three-pulley tension sensor, an upper tensioning guide wheel, a middle tensioning guide wheel and a lower tensioning guide wheel are arranged in the three-pulley tension sensor, and the three tensioning guide wheels are respectively a first tensioning guide wheel 26, a second tensioning guide wheel 28 and a third tensioning guide wheel 29; the three-pulley tension sensor 27 is fixed on the tension sensor fixing plate 25, so that three tension pulleys on the three-pulley tension sensor are arranged in a vertical state; the tension sensor fixing plate 25 is provided with two vertical parts with different thicknesses, the thinner vertical part is fixedly provided with the three-pulley tension sensor, and the thicker vertical part is fixedly provided with the rope length detection guide wheel 24, the first wiring guide wheel 22 and the second wiring guide wheel 23; the first wiring guide wheel 22 and the second wiring guide wheel 23 are positioned above the rope length detection guide wheel 24, and the rope length detection guide wheel 24 is positioned obliquely above a third tensioning guide wheel 29 of the three-pulley tension sensor; finally, the guide wheel grooves of all the guide wheels are positioned in the same vertical plane; the first wiring guide wheel is positioned above the second wiring guide wheel 23, and the outer tangent of the first wiring guide wheel 22 and the first slider guide wheel 14 does not interfere with the first tensioning guide wheel 26.

The output tether angle detection and control mechanism comprises a tether guide ring 30, a turntable 31, a thrust ball bearing seat 32, a motor fixing frame side plate 33, a motor turntable coupling 34, a thrust ball bearing 35, a tether output guide wheel 36, a motor synchronous pulley 37, an angle sensor synchronous pulley 38, a synchronous belt 39, an angle sensor fixing seat 40, an angle sensor 41, a motor fixing plate 42 and a corner driving motor 43.

The lower ends of the two motor fixing frame side plates 33 are directly connected with the bottom base plate through screws (see fig. 5), and meanwhile, the bottom side surfaces of the motor fixing frame side plates 33 are connected with the bottom base plate 6 through fixing corner connectors 8. The turntable 31, the tether guide ring 30 and the tether output guide wheel 36 form a wire guide mechanism, a turntable shaft is connected to the center of the lower portion of the turntable, the turntable shaft is matched with the turntable 31, a stud is arranged on the upper surface of the turntable shaft, a turntable positioning nut is mounted on the lower surface of the turntable and matched with the stud, the turntable is fixedly mounted on a thrust ball bearing seat 32 through a thrust ball bearing, and the lower portion of the thrust ball bearing seat 32 is fixed to the top of a motor fixing frame side plate 33 to ensure that the turntable can freely rotate in a horizontal plane. The thrust ball bearing seat 32 is connected with the two motor fixing frame side plates 33 through screws, the two motor fixing frame side plates 33 are vertically fixed on the bottom base plate 6, a motor fixing plate 42 is installed in an area between the two motor fixing frame side plates 33, the corner driving motor 43 is fixed on the motor fixing plate 42 and used for controlling the rotation of the turntable shaft, and the corner driving motor 43 is connected with the turntable shaft through a motor turntable coupling 34. On one hand, the turntable shaft extends out of the thrust ball bearing seat to be connected with the turntable 24, and on the other hand, a motor synchronous belt wheel 37 is arranged on the turntable shaft below the thrust ball bearing seat;

an angle sensor fixing seat 40 is installed on the side face of the motor fixing frame side plate 33, and an angle sensor 41 is fixed on the angle sensor fixing seat 40 and connected with the angle sensor synchronous belt wheel 38. The motor timing pulley 37 is at the same height as the angle sensor timing pulley 38 and is connected by a timing belt 39 so that the angle measured by the angle sensor 41 is synchronized with the turntable 31. The corner driving motor is connected with the angle sensor, and the control of the output direction of the tether is realized through the feedback of the angle sensor.

The main body of the turntable 31 (see fig. 12) is in the form of a circular disk, the outer side of the circular disk is provided with a rectangular extension part, the extension part is used for installing a tether output guide wheel 36, the center of the upper surface of the circular disk is provided with a tether guide ring 30, the center of the lower surface of the circular disk is connected with a turntable shaft and is installed on a thrust ball bearing seat 32 through a thrust ball bearing, and the design of the circular disk surface avoids interference with the tether when the turntable is used for a long time.

Fig. 7 is a schematic top view of a bottom substrate, in which the bottom substrate is rectangular, first threaded holes 601 are formed along two side edges in the length direction for fixing with an outer casing, second threaded holes 602 are formed inside one side edge for mounting a side plate 10, the side plate 10 is vertically mounted on the bottom substrate, the length direction of the side plate 10 is parallel to the bottom substrate, third threaded holes 603 are formed inside the second threaded holes for mounting a fixing code, and the lower portion of the side plate and the bottom substrate are firmly fixed by the fixing code; three groups of mounting holes 604 are arranged on the base plate at the bottom of the inner side of the third threaded hole along the length direction and are respectively used for mounting a bearing seat and a motor mounting seat.

Fig. 11 is a schematic structural view of a thrust ball bearing seat, in which screw holes are provided at four corners for mounting and fixing with openings above two motor fixing frame side plates, an area for mounting a thrust ball bearing is provided at the center, and a through hole is provided at the center for allowing a turntable shaft to pass through.

The rope output by the winding drum is connected with the tensioning guide wheel on the tension detection mechanism through the guide wheel groove of the sliding block guide wheel arranged on the wire arranging mechanism, the rope leading-out end on the winding drum shaft is exactly on the same vertical line with the pulley groove of the pulley arranged on the wire arranging mechanism, the stress direction of the rope is ensured to be along the vertical direction, the rope can be conveniently wound and unwound and distributed, and a large amount of rope can be accommodated; the tether enters the tension detection mechanism through the first routing guide wheel 22, is input through the first tensioning guide wheel 26, passes around the second tensioning guide wheel 28 (which is a guide wheel connected to the tension sensor), and is output through the third tensioning guide wheel 29; the tether output from the third tensioning guide wheel 29 needs to go around the tether length detection guide wheel 24, the tether length detection guide wheel 24 is fixedly connected with the encoder, and the rotation times are multiplied by the circumference of the tether length detection guide wheel 24, namely the length of the tether to be released or recovered. And then passes around the second routing guide wheel 23 above the rope length detection guide wheel 24 to be output through the rope guide ring 30 and the rope output guide wheel 36.

The space arrangement of the invention can just collect the tied rope output by the wire arranging mechanism in the same vertical plane, which is beneficial to ensuring the stability and the compact structure of the whole mechanism; the output tether angle detection and control mechanism is close to the tension detection mechanism and the tether length detection mechanism and comprises a main shaft connected with a corner drive motor 43 with large torque, an angle sensor 41 based on a rotary encoder and connected with the main shaft through a synchronous belt 39 in a transmission way, and a turntable used for guiding the output tether.

Because of this application structure mainly is applied to ground test, and the main effect of shell body is for the guard action, and shell body structure is not atress, and is not too hard, then according to whole size design, adopts photosensitive resin 3D to print and forms, and is not only pleasing to the eye and the cost is reduced and the quality.

The tension detection mechanism can well control the action of the winding motor 16 according to the change of the tension in the tether, so that the tension in the tether is in a certain range, and the stable releasing process of the sub-star simulator is simulated.

The invention integrates the detection and the control of the attitude entrance angle together, so that the attitude entrance angle can be measured and controlled, the swing condition of the sub-satellite simulator can be detected in real time, the swing condition can be inhibited by introducing the control mechanism, the jitter is reduced, and the stability of the testing device is improved. Because the structure of the device is mainly applied to ground tests, the sub-satellite simulator is placed on the air bearing, the reverse thrust satellite simulator is released, an ejection mechanism is not needed, the cost and the quality are reduced, the arrangement space is reduced, and the whole device is more compact.

The positions of the winding displacement mechanism and the tether winding mechanism are defined as right and the position of the output tether angle detection and control mechanism is defined as left based on the orientation of the given drawing. They are used for convenience only to distinguish relative positions of components or directions and do not represent orientations of the library when in use.

Nothing in this specification is said to apply to the prior art.